Browsing by Author "Rathmill, K."

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    The design and manufacture of a low cost, six axis, industrial robot
    (Cranfield University, 1985-01) McMaster , Robert S; Rathmill, K.
    The aim of the work presented in this thesis is to investigate the feasibility of producing a low cost, 6 axis, Industrial Robot. The formulation of a design specification based on market trends is shown, and used as a starting point for formal design analysis. A robot conceptual design based on two, series coupled, triangular link mechanisms was devised, following a detailed analysis of various kinematic mechanisms. The purpose of the mechanisms analysis was to find a low cost, inherently stiff, means of driving the robot main axes; in particular, the shoulder and elbow joints. By adopting the novel concept of a hand and wrist mechanism, a "true 3 axes" wrist was devised. A unique feature of this is that the roll, pitch and yaw axes form an orthogonal set with the origin at the wrist point. Although emphasis is placed on the robot mechanical design, a Servo amplifier system, suitable for driving all 6 axes of the robot is presented, and recommendations for a position control system are given. Finally, costs relating to the robot mechanical system, Servo amplifier system and Position control system were investigated. The variation in cost with robot volume is shown for each of the 3 systems. This indicates that a manufacturing cost of E9000 per robot can be achieved providing at least 150 robots are produced. The following papers have been published by the author in connection with this work: (i) The Development and Design of a Low Cost Assembly Robot, Proceedings of the 7th B.R.A. Annual Conference, May 1984. pp 171-182. (ii) Overview of Robotic Manufacture Worldwide, Seminar "Exploiting robot in arc welding fabrication", The Welding Institute, Cambridge, Nov. 1984. pp 1-7
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    The development and application of a simulation approach to advanced manufacturing systems planning
    (Cranfield University, 1987-07) Mills, R. I.; Rathmill, K.
    In the competitive field of metalworking industry, the planning of manufacturing systems so as to maximise their performance is crucial. The relatively new field of Flexible Manufacturing Systems presents a new set of planning challenges to the production engineer. This is due to the integrated nature of the these systems and the resultant effects upon their performance. This thesis presents a structured approach to the planning of materials flow within these systems and develops it by the analysis of several proposed manufacturing systems. The approach is based upon the use of mathematical and discrete event simulation techniques. The thesis gives the background to the need for a structured approach, investigates the parallel development of simulation languages and related techniques as applied to manufacturing facilities planning; and of the Flexible Manufacturing Systems themselves. The approach is then detailed and some specific types of planning tool are identified as suitable for use at each project stage. The effects upon the system of the integration of separate units, especially in low work in progress environments, are discussed in some detail. The methodology developed is then used in the context of three projects, specifically developing the theme of automated tool handling and the requirements that it places upon other aspects of a manufacturing system. The projects cover the analysis of pooling strategies, a key factor in determining tool magazine sizes and handling capacity/frequency demands; an academic analysis of a system with both component and tool handling systems; and an advanced Flexible Manufacturing System, also with both automated component and tool handling, which is currently being installed. Conclusions are presented at each stage, and these are drawn together to form a foundation for the planning of materials flow within Flexible Manufacturing Systems in general. Finally, suggestions are made for future work to develop the analysis.